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Using Cascaded Iterative Learning Control for Improved Task Execution

Author

Summary, in English

Iterative learning control (ILC) is used as a means for task execution of a time sub-optimal trajectory. The use of cascaded ILC procedures in a robot application is experimentally shown to drastically enlarge the region of convergence and efficiently compensate for unmodeled dynamics in the motion system.

Publishing year

2002

Language

English

Publication/Series

Preprints Reglermöte 2002

Document type

Conference paper

Publisher

Reglerteknik och kommunikationssystem, Linköpings Universitet

Topic

  • Control Engineering

Keywords

  • Motion Control
  • Robotics
  • Iterative Learning Control (ILC)

Status

Published

Project

  • LU Robotics Laboratory
  • Sensor-based Integration and Task-level Programming, 1999-2002.
  • Lund Research Programme in Autonomous Robotics, 1998-2001
  • Open Control Architectures (Nutek-Complex Technological Systems), 1998-2001.